CN113333327A - Automatic conveying and sorting system based on industrial robot - Google Patents
Automatic conveying and sorting system based on industrial robot Download PDFInfo
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- CN113333327A CN113333327A CN202110752555.1A CN202110752555A CN113333327A CN 113333327 A CN113333327 A CN 113333327A CN 202110752555 A CN202110752555 A CN 202110752555A CN 113333327 A CN113333327 A CN 113333327A
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- conveyor belt
- industrial robot
- processing unit
- sorting system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/04—Sorting according to size
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/16—Sorting according to weight
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Sorting Of Articles (AREA)
Abstract
The invention provides an automatic conveying and sorting system based on an industrial robot, which comprises a conveying module, a sorting module and a sorting module, wherein the conveying module comprises a conveying belt and a fixed support arranged below the conveying belt; the detection module comprises a plurality of volume detection units, weight detection units and flaw detection units which are arranged on the conveyor belt, and a control processing unit arranged on the fixed bracket; the sorting module is arranged behind the conveyor belt and automatically sorts the products; through target identification auxiliary function, automated inspection obtains volume data, quality data and whether the surface has the data of flaw, with these data transmission to the processing unit, processing unit handles the control after the analysis and selects separately the module, the article that selects separately the module after will classifying according to different standards moves different collection points, can very conveniently detect out the finished product work piece that the quality has a problem on the assembly line through this industrial robot, classify it, or sort in the express delivery parcel with different size and quality.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to an automatic conveying and sorting system based on an industrial robot.
Background
At present, in a lot of trades such as assembly line quality control or express delivery letter sorting, all need use the conveyer belt to transport, then the manual work carries out quality control or classification etc. to the product on the conveyer belt, adopt manual operation, often consuming time power and cost are higher, and in this kind of mechanized step, produce the mistake after artifical very easy fatigue, inefficiency, can't directly accomplish the work of inspection classification in the transportation, consequently, an automatic conveying sorting system based on industrial robot is applied to each trade, reduce the cost of labor.
Disclosure of Invention
This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. In this section, as well as in the abstract and the title of the invention of this application, simplifications or omissions may be made to avoid obscuring the purpose of the section, the abstract and the title, and such simplifications or omissions are not intended to limit the scope of the invention.
Therefore, the technical problem to be solved by the invention is to overcome the defects of low efficiency and high cost of manual transportation sorting quality inspection in the prior art, and thus, the automatic conveying and sorting system based on the industrial robot is provided.
In order to solve the technical problems, the invention provides the following technical scheme: an automatic conveying and sorting system based on an industrial robot comprises a conveying module, a sorting module and a sorting module, wherein the conveying module comprises a conveying belt and a fixed support arranged below the conveying belt; the detection module comprises a plurality of volume detection units, weight detection units and flaw detection units which are arranged on the conveyor belt, and a control processing unit arranged on the fixed bracket; and the sorting module is arranged behind the conveyor belt and automatically sorts the products.
As a preferable aspect of the industrial robot-based automatic conveying and sorting system of the present invention, wherein: the conveying belt is internally provided with a power unit which comprises rotating wheels arranged at two ends inside the conveying belt.
As a preferable aspect of the industrial robot-based automatic conveying and sorting system of the present invention, wherein: the volume detection unit comprises transverse clamping plates arranged on two sides of the conveying belt and vertical clamping plates arranged above the conveying belt, the transverse clamping plates are driven by a first driving motor to move in the horizontal direction, the vertical clamping plates are driven by a second motor to move in the vertical direction, detection pieces are arranged on the first driving motor and the second driving motor, when the transverse clamping plates and the vertical clamping plates move to touch an object, data of moving distances are automatically recorded, the detection pieces are connected with the control processing unit to control the first driving motor and the second driving motor to rotate reversely, and the transverse clamping plates and the vertical clamping plates return to initial positions; and light sensors are correspondingly arranged on two sides of the conveyor belt and record the passing time of the objects on the conveyor belt.
As a preferable aspect of the industrial robot-based automatic conveying and sorting system of the present invention, wherein: the moving distance between the transverse clamping plate and the vertical clamping plate and the time data recorded by the optical sensor are transmitted to the control processing unit, and the control processing unit calculates the volume of the object and classifies the object according to actual standards.
As a preferable aspect of the industrial robot-based automatic conveying and sorting system of the present invention, wherein: the weight detection unit comprises a pressure sensing device arranged inside the conveyor belt, and the pressure sensing device is connected with the control processing unit.
As a preferable aspect of the industrial robot-based automatic conveying and sorting system of the present invention, wherein: the flaw detection unit comprises a visual sensor arranged on the side face of the conveying belt, and the visual sensor is connected with the control processing unit.
As a preferable aspect of the industrial robot-based automatic conveying and sorting system of the present invention, wherein: sorting module is including setting up the second conveyer belt at conveyer belt rear, second conveyer belt below is provided with the pivot, the pivot is followed second conveyer belt direction of transmission sets up, be provided with the V template in the pivot with the pivot is rotated and is connected, V template plane connection second conveyer belt below, the V template drives when rotating the second conveyer belt rotates, second conveyer belt direction of transmission and both sides all are provided with material receiving arrangement.
As a preferable aspect of the industrial robot-based automatic conveying and sorting system of the present invention, wherein: be provided with L type dwang on the fixed bolster with the fixed bolster rotates to be connected, L type dwang one end is connected through first connecting rod the V template, the other end of L type dwang promotes through the cylinder.
As a preferable aspect of the industrial robot-based automatic conveying and sorting system of the present invention, wherein: l type dwang parallel arrangement has a plurality ofly, be provided with the second connecting rod between the L type dwang and connect.
As a preferable aspect of the industrial robot-based automatic conveying and sorting system of the present invention, wherein: the cylinder is connected with the control processing unit.
The invention has the beneficial effects that: the utility model provides a carry industrial robot, through target identification auxiliary function, automated inspection obtains volume data, whether quality data and surface have the data of flaw, with these data transmission to the processing unit, processing unit handles the control after the analysis and selects separately the module, the article that selects separately the module after will classifying according to different standards removes different collection points, can be very conveniently detect out the off-the-shelf work piece that the quality has a problem on the assembly line through this industrial robot, classify it, or sorting in the express delivery parcel with different size and quality.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise. Wherein:
fig. 1 is a schematic overall structure diagram of a conveying industrial robot provided by the invention;
FIG. 2 is a partially enlarged schematic view of the volume sensing unit;
FIG. 3 is a cross-sectional view of the sorting module below the second conveyor belt;
FIG. 4 is a system block diagram of the connection to the control processing unit;
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
Example 1
The present embodiment provides an industrial robot-based automated transport and sorting system, as shown in figure 1,
the industrial robot can be used for product quality inspection and conveying of an industrial production line, and can also be applied to scenes of express parcel sorting and the like, wherein products and express parcels are used as target objects,
the transportation module 100 comprises a conveyor belt and a fixed support 102 arranged below the conveyor belt, target objects are sequentially placed at the initial section of the conveyor belt, a power unit 103 is arranged in the conveyor belt and comprises rotating wheels 104 arranged at two ends in the conveyor belt, and the power unit 103 provides power to transport the target objects backwards; the detection module 200 comprises a plurality of volume detection units 201, weight detection units 202 and flaw detection units 203 which are arranged on the conveyor belt, and a control processing unit 204 which is arranged on the fixed support 102, wherein whether the volume, the weight and the surface of the target object have flaws can be obtained through the detection module 200, the control processing unit 204 is used for processing data, calculating and comparing with a set value to judge a range, and finally, through the sorting module 300, the objects which accord with different ranges are classified and transported to different collection points.
Sorting module 300 is the short conveyer belt that sets up at the conveyer belt rear, can normally continue to transport the product on the conveyer belt of transportation module 100 to the collection point, and sorting module 300 also can rotate through control processing unit 204 control, with the product on the short conveyer belt all the other collection points of landing to the below of inclining left or right, sorting module 300 can be provided with the multistage according to the categorised kind quantity of needs, consequently can set up a plurality of collection points and collect different types of product. The control processing unit 204 analyzes the measured data, automatically classifies the products according to the set standard comparison, controls the rotation and the rotation direction of the sorting module 300, and classifies the products into different collection points.
Example 2
This embodiment differs from the previous embodiment in that it is shown in the figure, in which
The volume detection unit 201 comprises a transverse clamping plate 201a and a vertical clamping plate 201b, the transverse clamping plate 201a is arranged on two sides of the first conveyor belt 101, the vertical clamping plate 201b is arranged above the transverse clamping plate 201a and driven by a first driving motor 201c to move in the horizontal direction, the vertical clamping plate 201b is driven by a second motor to move in the vertical direction, detection pieces 201e are arranged on the first driving motor 201c and the second driving motor 201d respectively, the transverse clamping plate 201a and the vertical clamping plate 201b automatically record moving distance data when moving to touch objects, the detection pieces 201e are connected with a control processing unit 204 and control the first driving motor 201c and the second driving motor 201d to rotate reversely, and the transverse clamping plate 201a and the vertical clamping plate 201b return to initial positions; light sensors 201f are correspondingly arranged on two sides of the first conveyor belt 101, and the light sensors 201f record the passing time of the articles on the conveyor belt.
The two transverse clamping plates 201a are symmetrically arranged at two sides of the fixed support 102, a sliding rail is arranged on the fixed support 102, the transverse clamping plates 201a can slide in the sliding rail and are controlled by a first driving motor 201c, a detection piece 201e is a Hall sensor and detects current in the first driving motor 201c, when the first driving motor 201c controls the transverse clamping plates 201a to slide and the transverse clamping plates 201a touch objects on the first conveyor belt 101, the load of the first driving motor 201c is increased, the current is correspondingly increased, the Hall sensor detects that the current is increased, a signal is transmitted to a control processing unit 204, the control processing unit 204 is a single chip microcomputer, the control processing unit 204 analyzes and processes data, sends an instruction to the first driving motor 201c to enable the motor to rotate reversely, the transverse clamping plates 201a are driven to move reversely to an initial position, the control processing unit 204 records the moving time of the transverse clamping plates 201a simultaneously, obtaining the moving distance, thereby obtaining the width of the article on the first conveyor belt 101; the upper vertical clamping plate 201b is controlled by the second driving motor 201d, so as to obtain the height of the object on the first conveyor belt 101.
Further, the light sensors 201f on both sides of the first conveyor belt 101 are respectively a light emitting part and a light receiving part, in a normal state, the light emitting part always receives the light emitted by the light emitting part, when the object on the first conveyor belt 101 passes through the light sensors 201f, the optical fiber emitted by the light emitting part is blocked, at this time, the light sensors 201f transmit information to the control processing unit 204, the information is recorded as initial time, when the object completely passes through, the light emitting part receives the light emitted by the light emitting part again, the information is recorded as passing time, the length of the object can be obtained by the time difference between the two and the fixed speed of the first conveyor belt 101, and therefore the estimated volume of the detected element can be obtained according to the obtained data.
When the object on the first conveyor belt 101 passes over the pressure sensing device 202a, the quality data of the object can be measured, and the pressure sensing device 202a transmits the data to the control processing unit 204; the surface of the object is directly identified through the visual sensor 203a, the visual sensor 203a has a target identification function, the target identification function is compared with the set surface condition, the result of whether the surface has flaws is obtained, and the result is transmitted to the control processing unit 204, so that the rear sorting module 300 can conveniently sort.
Through volume detecting element, weight detecting element and flaw detecting element respectively, obtain comprehensive data to the article on the conveyer belt, compare data and the standard of setting for, very easily obtain which article place where, make things convenient for the classification of later stage sorting module.
Example 3
This embodiment differs from the previous embodiment in that, as shown in the figure, wherein,
Further, the second conveyor belt 301 is arranged behind the first conveyor belt 101, articles on the first conveyor belt 101 can be conveyed to the second conveyor belt 301, and a rotating structure is arranged below the second conveyor belt 301, so that the whole second conveyor belt 301 can be driven to rotate left and right, and the articles fall into the material receiving device for classification. Wherein pivot 302 sets up in second conveyer belt 301 below, and in the bearing frame was inserted to both ends, fix on fixed bolster 102 of below, the cover was equipped with V template 303 on the pivot 302, and the plane and the second conveyer belt 301 lower extreme of V template 303 are connected, and first connecting rod 304 pulling V template 303 on the V template 303 rotates to drive second conveyer belt 301 integral rotation. Through setting up L type dwang 305 on fixed bolster 102, first end 305a is connected with first connecting rod 304, and second end 305b is connected with cylinder 306, has changed the direction of drive, conveniently holds on fixed bolster 102, makes things convenient for cylinder 306 to drive simultaneously. According to the length of the second conveyor belt 301, a plurality of first connecting rods 304 and L-shaped rotating rods 305 connected to the V-shaped plate 303 may be provided, and the second ends 305b are connected by second connecting rods 307 and driven by a single air cylinder 306, which is symmetrically provided on both sides of the V-shaped plate 303.
Further, the air cylinder 306 is connected to the control processing unit 204, and after the control processing unit 204 obtains the detection data, the objects are classified according to a set standard, and then the objects on the second conveyor belt 301 are classified on a certain side or fall along the second conveyor belt 301 in the conveyor belt transmission direction through the rotation of the air cylinder 306. According to actual requirements, a plurality of sorting modules 300 can be arranged behind the first conveyor belt 101, and two kinds of sorting conditions can be increased by adding one sorting module 300, and the sorting conditions are set according to the sorting quantity of actual needs. The invention provides a conveying industrial robot, which automatically detects volume data, quality data and data whether the surface has flaws or not through a target recognition auxiliary function, transmits the data to a processing unit, the processing unit processes and analyzes the data and then controls a sorting module, the sorting module moves objects classified according to different standards to different collection points, and finished workpieces with problematic quality can be conveniently detected on a production line through the industrial robot and sorted, or express packages with different sizes and qualities are sorted.
It is important to note that the construction and arrangement of the present application as shown in the various exemplary embodiments is illustrative only. Although only a few embodiments have been described in detail in this disclosure, those skilled in the art who review this disclosure will readily appreciate that many modifications are possible (e.g., variations in sizes, dimensions, structures, shapes and proportions of the various elements, values of parameters (e.g., temperatures, pressures, etc.), mounting arrangements, use of materials, colors, orientations, etc.) without materially departing from the novel teachings and advantages of the subject matter recited in this application. For example, elements shown as integrally formed may be constructed of multiple parts or elements, the position of elements may be reversed or otherwise varied, and the nature or number of discrete elements or positions may be altered or varied. Accordingly, all such modifications are intended to be included within the scope of this invention. The order or sequence of any process or method steps may be varied or re-sequenced according to alternative embodiments. In the claims, any means-plus-function clause is intended to cover the structures described herein as performing the recited function and not only structural equivalents but also equivalent structures. Other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the exemplary embodiments without departing from the scope of the present inventions. Therefore, the present invention is not limited to a particular embodiment, but extends to various modifications that nevertheless fall within the scope of the appended claims.
Moreover, in an effort to provide a concise description of the exemplary embodiments, all features of an actual implementation may not be described (i.e., those unrelated to the presently contemplated best mode of carrying out the invention, or those unrelated to enabling the invention).
It should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort might be complex and time consuming, but would nevertheless be a routine undertaking of design, fabrication, and manufacture for those of ordinary skill having the benefit of this disclosure, without undue experimentation.
It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (10)
1. The utility model provides an automatic conveying sorting system based on industrial robot which characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
a transport module (100) comprising a first conveyor belt (101) and a fixed support (102) arranged below the first conveyor belt (101);
the detection module (200) comprises a volume detection unit (201), a weight detection unit (202) and a flaw detection unit (203) which are arranged on the first conveyor belt (101), and a control processing unit (204) which is arranged on the fixed bracket (102); and the number of the first and second groups,
a sorting module (300) arranged behind the first conveyor belt (101) for automatically sorting the products.
2. The industrial robot-based automatic transport sorting system according to claim 1, characterized in that: the power unit (103) is arranged in the first conveyor belt (101) and comprises rotating wheels (104) arranged at two ends in the first conveyor belt (101).
3. The industrial robot-based automatic transport sorting system according to claim 2, characterized in that: the volume detection unit (201) comprises transverse clamping plates (201a) arranged at two sides of the first conveyor belt (101) and a vertical clamping plate (201b) arranged above the transverse clamping plates, the transverse clamping plate (201a) is driven by a first driving motor (201c) to move in the horizontal direction, the vertical clamping plate (201b) is driven by a second motor to move along the vertical direction, the first driving motor (201c) and the second driving motor (201d) are both provided with a detection piece (201e), the transverse clamping plate (201a) and the vertical clamping plate (201b) automatically record the data of the moving distance when moving to touch the object, the detection piece (201e) is connected with the control processing unit (204) and controls the first driving motor (201c) and the second driving motor (201d) to rotate reversely, the transverse clamping plate (201a) and the vertical clamping plate (201b) return to the initial positions;
light sensors (201f) are correspondingly arranged on two sides of the first conveyor belt (101), and the light sensors (201f) record the passing time of the articles on the first conveyor belt (101).
4. The industrial robot-based automatic transport sorting system according to claim 3, characterized in that: the moving distance between the transverse clamping plate (201a) and the vertical clamping plate (201b) and the time data recorded by the light sensor (201f) are transmitted to the control processing unit (204), and the control processing unit (204) calculates the volume of the object and classifies the object according to actual standards.
5. The industrial robot-based automatic transport sorting system according to claim 4, characterized in that: the weight detection unit (202) comprises a pressure sensing device (202a) arranged inside the first conveyor belt (101), and the pressure sensing device (202a) is connected with the control processing unit (204).
6. The industrial robot-based automatic transport sorting system according to claim 5, characterized in that: the flaw detection unit (203) comprises a visual sensor (203a) arranged on the side surface of the first conveyor belt (101), and the visual sensor (203a) is connected with the control processing unit (204).
7. The industrial robot-based automatic transport sorting system according to claim 6, characterized in that: sorting module (300) is including setting up second conveyer belt (301) at first conveyer belt (101) rear, second conveyer belt (301) below is provided with pivot (302), pivot (302) are followed second conveyer belt (301) direction of transmission sets up, be provided with V template (303) on pivot (302) with pivot (302) rotate to be connected, V template (303) plane is connected second conveyer belt (301) below, V template (303) drive when rotating second conveyer belt (301) rotate, second conveyer belt (301) direction of transmission and both sides all are provided with material receiving arrangement.
8. The industrial robot-based automatic transport sorting system according to claim 7, wherein: be provided with L type dwang (305) on fixed bolster (102) with fixed bolster (102) rotate to be connected, L type dwang (305) first end (305a) are connected through first connecting rod (304) V type board (303), second end (305b) of L type dwang (305) promote through cylinder (306).
9. The industrial robot-based automatic transport sorting system according to claim 8, wherein: l type dwang (305) parallel arrangement has a plurality ofly, be provided with second connecting rod (307) between L type dwang (305) and connect.
10. The industrial robot-based automatic transport sorting system according to claim 9, wherein: the air cylinder (306) is connected with the control processing unit (204).
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| CN202110752555.1A CN113333327B (en) | 2021-07-02 | 2021-07-02 | Automatic conveying and sorting system based on industrial robot |
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| CN202110752555.1A CN113333327B (en) | 2021-07-02 | 2021-07-02 | Automatic conveying and sorting system based on industrial robot |
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| Publication number | Publication date |
|---|---|
| CN113333327B (en) | 2022-09-23 |
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